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A High-Efficiency Two-Layer Path Planning Method for UAVs in Vast Airspace
Research Article | Published: 27 September 2024
Chinese Journal of Information Fusion Volume 1, Issue 2, 2024: 109-125
Volume 1, Issue 2, Chinese Journal of Information Fusion
Volume 1, Issue 2, 2024
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Deqiang Han
Deqiang Han
Xi'an Jiaotong University, China
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Chinese Journal of Information Fusion, Volume 1, Issue 2, 2024: 109-125

Free to Read | Research Article | 27 September 2024
A High-Efficiency Two-Layer Path Planning Method for UAVs in Vast Airspace
by
Tongyao Yang Tongyao Yang 1
Fengbao Yang Fengbao Yang 1 *
1 School of Information and Communication Engineering, North University of China, Taiyuan 030051, China
* Corresponding Author: Fengbao Yang, [email protected]
DOI: 10.62762/CJIF.2024.596648
Received: 29 July 2024, Accepted: 23 September 2024, Published: 27 September 2024  
Cited by: 1  (Source: Web of Science) , 1  (Source: Google Scholar)
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Abstract
In response to the challenges associated with the inefficiency and poor quality of 3D path planning for Unmanned Aerial Systems (UAS) operating in vast airspace, a novel two-layer path planning method is proposed based on a divide-and-conquer methodology. This method segregates the solution process into two distinct stages: heading planning and path planning, thereby ensuring the planning of both efficiency and path quality. Firstly, the path planning phase is formulated as a multi-objective optimization problem, taking into account the environmental constraints of the UAV mission and path safety. Subsequently, the multi-dimensional environmental data is transformed into a two-dimensional probabilistic map. An improved ant colony algorithm is proposed to efficiently generate high-quality sets of headings, facilitating the preliminary heading planning for UAVs. Then, the three-dimensional environment of the heading regions is extracted, and an improved Dung Beetle algorithm with multiple strategies is proposed to optimize the three-dimensional path in the secondary layer accurately. The efficacy and quality of the proposed path planning methodology are substantiated through comprehensive simulation analysis.
Graphical Abstract
A High-Efficiency Two-Layer Path Planning Method for UAVs in Vast Airspace
Keywords
two-dimensional probabilistic map
trajectory planning
optimization algorithm
two-Layer path planning
Funding
This work was supported by the National Natural Science Foundation of China under Grants (61972363 and 61672472).
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Cite This Article
APA Style
Yang, T. & Yang, F. (2024). A High-Efficiency Two-Layer Path Planning Method for UAVs in Vast airspace. Chinese Journal of Information Fusion, 1(2), 109–125. https://doi.org/10.62762/CJIF.2024.596648
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